Abstract
This study provides a new embedded linear model (ELM) three-dimensional fuzzy PID control method for a bionic autonomous underwater vehicle (AUV), which is disturbed by ocean waves. The uncertainty of the ocean waves will make it difficult for the AUV to achieve good sailing quality, especially near the sea surface. In view of this problem, an ELM fuzzy PID controller, which adopts three-dimensional fuzzy control rules, is designed. In the ELM fuzzy PID controller, a linear model of AUV is established in order to actively perceive the effect of waves on AUV. Hence, the wave disturbance can be reflected in the control signal earlier and faster. Finally, three simulations are carried out to verify the control effect of the ELM fuzzy PID controller. An ocean wave disturbance model is established in order to simulate the force and the moment acting on the AUV. The results imply that compared with the classical PID controller and normal fuzzy PID controller, the ELM fuzzy PID controller can significantly enhance the stability of AUV and make the response faster and overshoot smaller.
Highlights
Wave disturbance to the autonomous underwater vehicle (AUV) sailing near the sea surface has always been a problem that restricts its working capacity.e French developed the world’s first AUV, Epaulard, in the 1970s [1]
A new embedded linear model (ELM) fuzzy PID controller is introduced to the AUV under the disturbance of ocean waves
An ocean wave disturbance model is established in order to simulate the force acting on the AUV
Summary
Wave disturbance to the AUV sailing near the sea surface has always been a problem that restricts its working capacity.e French developed the world’s first AUV, Epaulard, in the 1970s [1]. E AUV system is a six-degree-of-freedom, nonlinear, strongly coupled, and model uncertain system [7]. It needs to face underwater wave disturbance and complex topography during its missions. E pitching motion of the AUV is controlled by the angle of horizontal rudder δe, and the heading motion is controlled by the different T1 − T2 between the two propellers. This AUV is underactuated, as there are no actuators in the roll direction. In order to study the effect of the control method described in this study, the mathematical model of the AUV is needed for the following simulation.
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